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industrial_core: industrial_deprecated | industrial_msgs | industrial_robot_client | industrial_robot_simulator | industrial_utils | simple_message

Package Summary

The industrial robot simulator is a stand in for industrial robot driver node(s). It adheres to the driver specification for industrial robot controllers.

industrial_core: industrial_deprecated | industrial_msgs | industrial_robot_client | industrial_robot_simulator | industrial_trajectory_filters | industrial_utils | simple_message

Package Summary

The industrial robot simulator is a stand in for industrial robot driver node(s). It adheres to the driver specification for industrial robot controllers.

industrial_core: industrial_deprecated | industrial_msgs | industrial_robot_client | industrial_robot_simulator | industrial_trajectory_filters | industrial_utils | simple_message

Package Summary

The industrial robot simulator is a stand in for industrial robot driver node(s). It adheres to the driver specification for industrial robot controllers.

Overview

This package simulates an industrial robot controller that adheres to the ROS-Industrial driver specification. Currently the simulator only supports the minimum requirements. The purpose of this node is to provide a simulated robot controller for development. This simulator publishes standard topics that can be fed into Rviz to create a realistic visualization of an actual robot cell. Note that the simulation is at the ROS API level, the node does not accept Simple Message TCP/UDP connections.

Usage

The industrial robot simulator package contains a convenience launch file for bringing up typical low level nodes (sometimes called bringup scripts). These nodes include the simulator and a controlling action server. In typical applications the action server receives trajectories from a higher level planner (not included in this launch file).

Standalone execution is through roslaunch:

roslaunch industrial_robot_simulator robot_interface_simulator.launch 

Node API

industrial_robot_simulator

Simulates an industrial robot controller as defined in ROS-Industrial.

Subscribed Topics

joint_path_command (trajectory_msgs/JointTrajectory)

Published Topics

joint_states (sensor_msgs/JointState) feedback_states (control_msgs/FollowJointTrajectoryFeedback)

Parameters

controller_joint_names (str[], default: ['joint_1', ..., 'joint_6']) initial_joint_state (double[], default: [0, ..., 0]) motion_update_rate (double, default: 100.0) pub_rate (double, default: 10.0)

Contact us/Technical support

For questions about this package or ROS-Industrial in general, please contact the developers by posting a message in the ROS-Industrial category on ROS Discourse.

Reporting bugs

Use GitHub to report bugs or submit feature requests. [View active issues]


2019-08-17 12:47